CN107894431A - A kind of two-segment type capsule medicine plate quality inspection device and method based on machine vision - Google Patents
A kind of two-segment type capsule medicine plate quality inspection device and method based on machine vision Download PDFInfo
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- CN107894431A CN107894431A CN201711469710.9A CN201711469710A CN107894431A CN 107894431 A CN107894431 A CN 107894431A CN 201711469710 A CN201711469710 A CN 201711469710A CN 107894431 A CN107894431 A CN 107894431A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9508—Capsules; Tablets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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Abstract
The present invention relates to a kind of two-segment type capsule medicine plate quality inspection device based on machine vision and method, the device to include：First conveyer belt；The medicine plate testing agency set gradually along direction of transfer and substandard products mechanism for sorting；The medicine plate testing agency includes being used for gathering the back side image collector of medicine plate back side image, the direct picture collector for gathering medicine plate direct picture, for capturing medicine plate and by the back side up manipulator mechanism turned over of medicine plate and image processor for identifying substandard products；Second conveyer belt；Controller, the first conveyer belt, image processor, substandard products mechanism for sorting and the second conveyer belt are connected respectively.Compared with prior art, the present invention is applied to the medically conventional identification of two-segment type capsule board defect and sorting, plays to a certain extent instead of efficiency is low, artificial vision's detection of low precision, to meet that enterprise is extensive, the production requirement of standardization.
Description
Technical field
The present invention relates to a kind of medicine plate quality inspection device, more particularly, to a kind of two-segment type capsule medicine plate based on machine vision
Quality inspection device and method.
Background technology
The continuous development of Creative Science and Technology Co. Ltd has driven the continuous progress of society.With the development of the society, other wants to life
Ask also with regard to more and more higher.Medicine trade is paid close attention to because of itself and the close relation of people's life by more and more people, to medicine
Examination criteria the increasing pressure is also just also faced with regard to more and more higher, pharmacy producer.
In modern society, the detection to drug quality already becomes the key that pharmacy producer is based oneself upon.And in the life of reality
During production, how make it that medicine not only ensure that higher productivity ratio but also had higher detection qualification rate to be modern pharmaceutical producer
Required problem urgently to be resolved hurrily.At home in existing medicine kind, capsule because its can effectively cover in fill the taste of thing
Road and smell, it is not bitter to the taste to be truly realized good medicine, thus enjoys patient to welcome, and its demand also increases severely year after year.As capsule is given birth to
The input of the automatic production line of enterprise is produced, becomes a wherein very important link to capsule shell quality testing.
At present, most pharmacy producer on capsule manufacture streamline, it is necessary to specify quality inspection personnel station in special life
Streamline is with the naked eye stared at by producing line, the capsule that standard is not reaching to outward appearance sorts.Such detection method not only adds
Big labor intensity, and inevitably there is very big personal subjectivity.Hence in so that the standard of detection is difficult to unite
One and efficiency it is also not high.Along with noise present in actually detected environment, the factor such as easy fatigue of worker, cause some not
Qualified product can not timely be picked to come and flow to market.The detection method of this backwardness can not meet modern chemical industry
Quick, the accurate demand of industry, seriously constrains the development of enterprise.How operating efficiency is improved and how in capsule manufacture and inspection
The automation of industry is realized in survey, important meaning is there is so as to the identification sorting of the automation to defective capsule.
Prior art is artificial detection, and labor intensity is big, and efficiency is low, and quality inspection percent of pass is low, can not meet that industrial production will
Ask.
The content of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind is based on machine vision
Two-segment type capsule medicine plate quality inspection device and method, identified suitable for medically conventional two-segment type capsule board defect and point
Pick, play to a certain extent instead of efficiency is low, artificial vision of low precision detection, to meet that enterprise is extensive, standardization
Production requirement.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of two-segment type capsule medicine plate quality inspection device based on machine vision, including：
First conveyer belt；
The medicine plate testing agency set gradually along direction of transfer and substandard products mechanism for sorting；The medicine plate testing agency includes using
In the back side image collector of collection medicine plate back side image, the direct picture collector for gathering medicine plate direct picture, it is used for
Capture medicine plate and by the back side up manipulator mechanism turned over of medicine plate and image processor for identifying substandard products, the front elevation
Top as being erected at the first conveyer belt above and below collector and manipulator mechanism, the camera lens of direct picture collector are down, described
Back side image collector is erected at the top of the first conveyer belt and is located in the transmission direction before manipulator mechanism, back side image
For the camera lens of collector towards manipulator mechanism, described image processor connects back side image collector and direct picture collection respectively
Device；
Second conveyer belt, the second conveyer belt are located at the side of substandard products mechanism for sorting and, substandard products perpendicular with the first conveyer belt
Mechanism for sorting moves to the substandard products identified on the first conveyer belt on the second conveyer belt；
Controller, the first conveyer belt, image processor, substandard products mechanism for sorting and the second conveyer belt are connected respectively.
The manipulator mechanism includes mechanical arm parts, mechanical wrist parts and Manipulator Hand actuator, institute
The top that mechanical arm parts are vertically arranged in the first conveyer belt is stated, the mechanical wrist parts are located at manipulator arm group
On part, mechanical arm parts driving manipulator wrist component moves up and down, and the Manipulator Hand actuator is located at manipulator
On wrist component, mechanical wrist part Component driver Manipulator Hand actuator is rotated up 90 degree on perpendicular, the control
Device processed connects mechanical arm parts, mechanical wrist parts and Manipulator Hand actuator respectively.
The mechanical arm parts include arm sliding block, arm leading screw and arm rotary electric machine, and the arm leading screw erects
The straight top for being arranged on the first conveyer belt, the end of the arm rotary electric machine arm portions leading screw, the arm sliding block pass through
Nut connects in arm leading screw, and for the mechanical wrist parts on arm sliding block, the controller arm portions rotate electricity
Machine.
The mechanical wrist parts include wrist rotary electric machine and wrist brace, and the wrist rotary electric machine is located at machinery
On arm parts, the output shaft of wrist rotary electric machine is horizontally disposed and perpendicular with the direction of transfer of the first conveyer belt, described
The bottom of wrist brace and the output axis connection of wrist rotary electric machine, the Manipulator Hand actuator are arranged on wrist brace
Top, the controller connect wrist rotary electric machine.
The Manipulator Hand actuator include auxiliary slide bar, hand leading screw, hand rotary electric machine, two increase baffle plates and
Two grip blocks, it is described auxiliary slide bar and hand leading screw be set in parallel on mechanical wrist parts, and with the first conveyer belt
Direction of transfer is perpendicular, the end of hand rotary electric machine connection hand leading screw, each one end for increasing baffle plate with auxiliary
Sliding bar connects, and be connected by nut with hand leading screw, two increase nut installation directions that baffle plates correspondences connect on the contrary,
Each other end for increasing baffle plate connects a grip block respectively, and two grip blocks are equal with the direction of transfer of the first conveyer belt
OK, a neck and multiple boss are provided with along the direction of transfer of the first conveyer belt on the opposite side of two grip blocks, it is described
Multiple boss are disposed on the top of neck, and the controller connects hand rotary electric machine.
What the device also included connecting controller respectively is used for the of inspecting manipuator hand actuator crawl medicine plate in place
One position-detection sensor, for inspecting manipuator arm component move up and down second place detection sensor in place, be used for
Inspecting manipuator wrist component overturns the 3rd position-detection sensor in place and is sent to substandard products sorter for detecting tablet
The 4th position-detection sensor below structure.
The substandard products mechanism for sorting is longitudinal sliding including sorting cross slide way, sorting transverse slider, sorting longitudinal rail, sorting
Block, sorting rotary electric machine, sorting connecting rod and push pedal, the sorting cross slide way are two, and two sorting cross slide ways are set up
On the first conveyer belt, and alignd respectively with two sides of the second conveyer belt, each cross slide way and one that sorts sorts horizontal slide
Block is slidably connected, and the sorting longitudinal rail and push pedal are erected on two sorting transverse sliders up and down respectively, and sorting longitudinal direction is led
Push pedal is set on the bottom surface of rail, and the sorting longitudinal sliding block is slidably connected with sorting longitudinal rail, the sorting rotary electric machine frame
It is located between two sorting cross slide ways, the output shaft for sorting rotary electric machine is vertically arranged and connects one end of sorting connecting rod, institute
State the other end and the sorting longitudinal sliding block rotation connection of sorting connecting rod, the controller connection sorting rotary electric machine.
The medicine plate testing agency also includes being used for the light supply apparatus for irradiating medicine plate, and the light supply apparatus connects controller.
The controller is connected with LCDs.
A kind of two-segment type capsule medicine plate quality detecting method based on machine vision, utilizes the above-mentioned two-segment type based on machine vision
Capsule medicine plate quality inspection device is realized, is comprised the following steps：
1) when medicine plate is sent to below manipulator mechanism by the first conveyer belt, manipulator mechanism translation clamping captures medicine
Plate, direct picture collector gather the direct picture of medicine plate, and manipulator mechanism turns over the back side up of medicine plate, back side image collection
Device gathers the back side image of medicine plate；
2) image processor identifies that medicine plate whether there is defect respectively according to the direct picture of medicine plate, and the defect includes lacking
Foreign matter defect and back side cracking defect be present in grain defect, more defects, capsule abnormity defect, capsule；
3) when medicine plate is sent to below substandard products mechanism for sorting through the first conveyer belt, controller identifies according to image processor
Output control substandard products mechanism for sorting will identify that the substandard products of existing defects are moved on the second conveyer belt.
Compared with prior art, the present invention has advantages below：
1. the two-segment type capsule medicine plate quality inspection device introduces machine vision technique and mechanical automation crawl, positioning, sorting,
Advantageously account for that capsule medicine plate artificial vision's detection efficiency is low, low precision, can not meet that enterprise is extensive, the production need of standardization
The problem of asking.
2. the device is furnished with LCDs, detection process can be monitored, can also pass through the detection data dynamic of interface display
Testing result is checked, analysis, summarizes testing result to understand upstream equipment situation.
3. the quality inspection device uses FH image series processors, it is equipped with CCD high speed cameras and looks far into the distance camera lens as front elevation
As collector and back side image collector, high-precision image processing and identification can be completed in a short time, improve medicine production effect
Rate.
4. the two-segment type capsule medicine plate quality inspection device need to only change normal capsules conventional parameter, you can be adapted to a variety of double-colored
Capsule, soft or hard capsule, sheet and ellipsoid capsule, adaptive surface is extensive, and promotional value is good, has very distinct novelty,
Improve the utilization rate of mechanical device.
5. Manipulator Hand actuator in the manipulator mechanism of the quality inspection device, takes translating type clamp structure, transmission side
Formula selects bidirectional screw type, for capsule board size parameter designing neck and boss, can accurately capture, in mechanical structure
With there is certain novelty in parameter.
6. the defects of quality inspection device recognition methods covering capsule all kinds, and comprehensive use includes clustering algorithm, shape
Digital image processing method including state credit analysis, image filtering, rim detection and template matches, be advantageous to the efficient knowledge of defect
Not, underproof capsule medicine plate is rejected, there is certain novelty and application value on quality detecting method.
7. relevant position detection sensor is added in quality inspection device in each mechanical actuating mechanism, such as stroke and photoelectric sensing
Device device so that position, take pictures, handling, sorting each course of work and be effectively uniformly coordinated, ensureing that engraving device makes finger when specified
Fixed action.
8. the apparatus structure is simple, compact, configuration is reasonable, and quality inspection is simple and convenient, and separate unit Costco Wholesale is more cheap,
With the efficient value for replacing artificial detection and identification.
Brief description of the drawings
Fig. 1 is the positive structure diagram of the two-segment type capsule medicine plate quality inspection device based on machine vision；
Fig. 2 is the overlooking the structure diagram of the two-segment type capsule medicine plate quality inspection device based on machine vision；
Fig. 3 is the structural representation of manipulator mechanism；
Fig. 4 is the structural representation of substandard products mechanism for sorting；
Fig. 5 is the circuit connection diagram such as controller, image processor, LCDs in the present embodiment；
Fig. 6 is the component relationship figure of manipulator mechanism；
Fig. 7 is machine vision fundamental diagram；
Fig. 8 is distribution schematic diagram of the position-detection sensor on Manipulator Hand actuator；
Fig. 9 is distribution schematic diagram of the position-detection sensor in two-segment type capsule medicine plate quality inspection device；
Figure 10 is the flow chart of PLC program work；
Figure 11 is the timing diagram of PLC program work.
In figure, the 1, first conveyer belt, 2, substandard products mechanism for sorting, 21, sorting cross slide way, 22, sorting transverse slider, 23,
Sort longitudinal rail, 24, sorting longitudinal sliding block, 25, sorting rotary electric machine, 26, sorting connecting rod, 27, push pedal, 3, back side image adopts
Storage, 4, direct picture collector, 5, manipulator mechanism, 6, mechanical arm parts, 61, arm sliding block, 62, arm leading screw,
63rd, arm rotary electric machine, 7, mechanical wrist parts, 71, wrist rotary electric machine, 72, wrist brace, 8, Manipulator Hand performs
Device, 81, auxiliary slide bar, 82, hand leading screw, 83, hand rotary electric machine, 84, increase baffle plate, 85, grip block, 86, neck, 87,
Boss, 88, hand actuator bracket, 9, image processor, the 10, second conveyer belt, 11, controller, 12, LCDs.
Embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to
Following embodiments.
As depicted in figs. 1 and 2, a kind of two-segment type capsule medicine plate quality inspection device based on machine vision includes：
First conveyer belt 1；
The medicine plate testing agency set gradually along direction of transfer and substandard products mechanism for sorting 2；Medicine plate testing agency includes being used for
Gather the back side image collector 3 of medicine plate back side image, the direct picture collector 4 for gathering medicine plate direct picture, be used for
Capture medicine plate and by the back side up manipulator mechanism 5 turned over of medicine plate and image processor 9 for identifying substandard products, direct picture
Collector 4 and manipulator mechanism are erected at the top of the first conveyer belt 1 about 5, the camera lens of direct picture collector 4 down, is carried on the back
Face image acquisition device 3 is erected at the top of the first conveyer belt 1 and is located in the transmission direction before manipulator mechanism 5, back view
As the camera lens of collector 3 is towards manipulator mechanism 5, image processor 9 connects back side image collector 3 respectively and direct picture is adopted
Storage 4, medicine plate testing agency also include being used for the light supply apparatus for irradiating medicine plate, and two image acquisition devices can use the phase with camera lens
Machine；
Second conveyer belt 10, the second conveyer belt 10 are located at the side of substandard products mechanism for sorting 2 and hung down with the phase of the first conveyer belt 1
Directly, substandard products mechanism for sorting 2 moves to the substandard products identified on the first conveyer belt 1 on the second conveyer belt 10；
Controller 11, the first conveyer belt 1, image processor 9, substandard products mechanism for sorting 2, light supply apparatus and second are connected respectively
Conveyer belt 10, controller 11 are also associated with LCDs 12.
First conveyer belt 1, the second conveyer belt 10, manipulator mechanism 5, substandard products mechanism for sorting 2 form mechanical execution module, real
Now it is tested transport, gripping positioning, sorting of capsule medicine plate etc.；Light supply apparatus, image processor 9, direct picture collector 4, the back of the body
Face image acquisition device 3, LCDs 12 etc. form Machine Vision Detection module, and Machine Vision Detection module passes through camera lens
The product image of shooting stabilization and high quality, product image is identified using image processor 9 and is subject to by calculating
Judge, so as to complete the detection to product；The compositions such as controller 11, position-detection sensor and power module control and sensing mould
Block, control is with sensing module by receiving the consequential signal and each executing agency's reality of collection quality inspection device that image processor 9 exports
Border feedback information, the action specified is completed according to the pre-set other parts of programme-control, so as to control light
The parts such as source device, camera, manipulator mechanism 5, conveyer belt, substandard products mechanism for sorting 2 work in order.
First conveyer belt 1 is used for the transmission of capsule medicine plate censorship, and the second conveyer belt 10 is used for the transmission of substandard products medicine plate separation,
First conveyer belt 1, the second conveyer belt 10 use common industrial material band, and two groups of conveyer belt transmission directions are vertical so that glue
Capsule tablet carries out individual sport according to certain work tempo.
Manipulator mechanism 5 mainly realizes that function is and the energy by capturing, overturning capsule, make its positive and negative to be detected
Capsule is fixed in specified location and taken pictures.As shown in Figure 3 and Figure 6, manipulator mechanism 5 is to complete the action such as gripping, carrying
Mechanical carrier, form the framework of whole execution system, including mechanical arm parts 6, mechanical wrist parts 7 and manipulator hand
Portion's actuator 8, mechanical arm parts 6 are vertically arranged in the top of the first conveyer belt 1, and mechanical wrist parts 7 are located at machinery
On arm parts 6, the driving manipulator wrist component 7 of mechanical arm parts 6 is moved up and down, and Manipulator Hand actuator 8 is set
In on mechanical wrist parts 7, the driving manipulator hand actuator 8 of mechanical wrist parts 7 is rotated up on perpendicular
90 degree, controller 11 connects mechanical arm parts 6, mechanical wrist parts 7 and Manipulator Hand actuator 8 respectively.Consider
Motion is performed to manipulator mechanism 5 and pursues simple and flexible and precise positioning, and bearing torque there are certain requirements, in the present embodiment
Using motor drive mode.
Mechanical arm parts 6 are support mechanical wrist parts 7, the critical component of Manipulator Hand actuator 8, and energy
Both are driven to complete predetermined gripping and location action.Mechanical arm parts 6 include arm sliding block 61, arm leading screw 62 and arm
Portion's rotary electric machine 63, arm leading screw 62 are vertically arranged in the top of the first conveyer belt 1, arm rotary electric machine by manipulator support
The end of 63 arm portions leading screws 62, arm sliding block 61 are connected by nut in arm leading screw 62, and mechanical wrist parts 7 are located at
On arm sliding block 61, the arm portions rotary electric machine 63 of controller 11.Manipulator support is the support member of manipulator mechanism 5.
Mechanical wrist parts 7 are to connect Manipulator Hand actuator 8 and mechanical arm parts 6, and can be by manipulator
Hand actuator 8 is flipped up 90 °.Mechanical wrist parts 7 include wrist rotary electric machine 71 and wrist brace 72, and wrist rotates
Motor 71 on the mechanical arm parts 6, the output shaft of wrist rotary electric machine 71 it is horizontally disposed and with the biography of the first conveyer belt 1
Send direction perpendicular, the bottom of wrist brace 72 and the output axis connection of wrist rotary electric machine 71, Manipulator Hand actuator 8 are set
Put and connect wrist rotary electric machine 71 in the top of wrist brace 72, controller 11.
Manipulator Hand actuator 8 directly contacts with target capsule medicine plate, using the clipping structure of translating type and
The type of drive of leading screw double nut, Manipulator Hand actuator 8 include auxiliary slide bar 81, hand leading screw 82, hand rotary electric machine
83rd, two increase baffle plate 84 and two grip blocks 85, aid in slide bar 81 and hand leading screw 82 to be set in parallel in mechanical wrist part group
On part 7, and it is perpendicular with the direction of transfer of the first conveyer belt 1, hand rotary electric machine 83 connects the end of hand leading screw 82, each
The one end for increasing baffle plate 84 is slidably connected with auxiliary slide bar 81, and is connected by nut with hand leading screw 82, and two increase gear
The nut installation direction of the corresponding connection of plate 84 on the contrary, enable during hand screw mandrel positive and negative rotation two nuts conversely, move toward one another,
Each other end for increasing baffle plate 84 connects a grip block 85, sender of two grip blocks 85 with the first conveyer belt 1 respectively
To parallel, a neck 86 and more is provided with along the direction of transfer of the first conveyer belt 1 on the opposite side of two grip blocks 85
Individual boss 87, multiple boss 87 are disposed on the top of neck 86, and controller 11 connects hand rotary electric machine 83.
Controller 11 can use PLC processor, and LCDs 12 can use touch-screen, and the device also includes connecting respectively
The inspecting manipuator hand actuator 8 that is used for of controller 11 captures medicine plate first position detection sensor in place, for detecting
Mechanical arm parts 6 move up and down second place detection sensor in place, are turned to for inspecting manipuator wrist component 7
3rd position-detection sensor of position and the 4th position detection sensing that the lower section of substandard products mechanism for sorting 2 is sent to for detecting tablet
Device.Four class detection sensors are used to detect whether Motor execution is correctly completed, and can use travel switch or photoelectric sensor.
Substandard products mechanism for sorting 2 is mainly used in when capsule medicine plate is judged as unqualified (substandard products) after machine recognition, point
Underproof capsule can be pushed by picking mechanism.Substandard products mechanism for sorting 2 can realize straight reciprocating motion, and product is pushed away into former conveyer belt
And original position is returned to, using crank double-slider structure, type of drive is also to be driven with motor.As shown in figure 4, substandard products sorter
Structure 2 includes sorting cross slide way 21, sorting transverse slider 22, sorting longitudinal rail 23, sorting longitudinal sliding block 24, sorting rotation electricity
Machine 25, sorting connecting rod 26 and push pedal 27, sorting cross slide way 21 are two, and two sorting cross slide ways 21 are erected at the first biography
Send on band 1, and two sides with the second conveyer belt 10 are alignd respectively, each cross slide way 21 and one that sorts sorts transverse slider 22
It is slidably connected, sorts longitudinal rail 23 and push pedal 27 and be erected at up and down respectively on two sorting transverse sliders 22, sorting longitudinal direction is led
Push pedal 27 is set on the bottom surface of rail 23, and sorting longitudinal sliding block 24 is slidably connected with sorting longitudinal rail 23, sorts rotary electric machine 25
It is erected between two sorting cross slide ways 21, the output shaft of sorting rotary electric machine 25 is vertically arranged and connects sorting connecting rod 26
One end, the other end and sorting longitudinal sliding block 24 for sorting connecting rod 26 are rotatablely connected, the connection sorting rotary electric machine 25 of controller 11, point
Pick rotary electric machine 25 and receive and unqualified capsule medicine plate on the first conveyer belt 1 is pushed into the second transmission after the signal that sends of controller 11
On band 10.
As shown in fig. 7, the picture signal of two image acquisition device shooting, collectings is delivered to image processor 9, by processing
Unit binaryzation, analog signal is converted into data signal.Image processor 9, which again calculates these signals with a reference value, to be sentenced
It is fixed, finally obtain a result, acquired results are conveyed to controller 11 and wait whether sorting capsule medicine plate again.
Four class defect identification methods of image processor 9 are：Capsule medicine plate lacks grain identification and uses color matrix technology, to bubble
Point set carries out statistic mixed-state in cover, so as to identify；The Edge Feature Points cluster that the more recognition methods of capsule medicine plate are, i.e., at edge
In search, more forms have abundant point set, are identified by entering row set cluster to characteristic point；Stain and foreign matter be present
Capsule, statistic of classification is carried out to abdomen area Point Set brightness attribute, when reaching luminance threshold and area threshold, is then determined with glue
Foreign matter be present in capsule.Capsule abnormity defect using capsule size detect, carry out threshold classification, while carry out capsule edge point set it is main into
Divide the feature clustering of orientation.
Light supply apparatus major function is in order that capsule medicine plate needs observed feature with needing ignored characteristics of image
Between produce maximum contrast so that collection image there is preferable brightness and robustness.Light supply apparatus is shone using front annular
The LED flat plate of bright mode.
Image processor 9 is Omron FH-1050 standard controller 11.Two image acquisition devices select 5,000,000 pixels
Model FZ-SC2M digital CCD camera, its valid pixel number are 1600 (H) * 1200 (V).Camera lens selection is model
3Z4S-LE SV-0814H's looks far into the distance camera lens.The model FZ-M08 of LCDs 12, realize collection image recognition, feature extraction
With the real-time display of processing.
The device is real by the combination of manipulator mechanism 5, the image processor 9 of vision detection system, controller 11
The operation process such as the now information gathering of two-segment type capsule medicine plate, defect recognition, sorting processing, data preservation.Then utilize above-mentioned dress
Put and realize that the two-segment type capsule medicine plate quality detecting method based on machine vision comprises the following steps：
1) when medicine plate is sent to the lower section of manipulator mechanism 5, the translation clamping crawl of manipulator mechanism 5 by the first conveyer belt 1
Medicine plate, direct picture collector 4 gather the direct picture of medicine plate, and manipulator mechanism 5 turns over the back side up of medicine plate, back side image
Collector 3 gathers the back side image of medicine plate；
2) comprehensive use includes clustering algorithm, morphological analysis, image filtering, rim detection and mould in image processor 9
Digital image processing method including plate matching, image processor 9 identify whether medicine plate deposits respectively according to the direct picture of medicine plate
In defect, defect includes scarce grain defect, more defects, capsule abnormity defect, capsule and foreign matter defect and back side cracking defect be present；
3) when medicine plate is sent to the lower section of substandard products mechanism for sorting 2 through the first conveyer belt 1, controller 11 is according to image processor 9
The output control substandard products mechanism for sorting 2 of identification will identify that the substandard products of existing defects are moved on the second conveyer belt 10.If lack
Sunken identification is all in the range of setup parameter, and capsule medicine plate will continue on belt reach, so far whole double-joint type capsule medicine plate matter
Inspection is completed.
In the present embodiment, Manipulator Hand actuator 8 designs the structure and shape according to conventional double-colored capsule medicine plate cell board
Shape size.Double-colored capsule medicine plate basic size is：Long 120mm, wide 75mm, thick 1.2mm, height of bubble cap 8mm.Manipulator Hand is held
Row device 8 will capture such one block of plate being flimsy and do translational motion and position, contact of the parallel-moving type clamp structure with cell board
Point and contact area are larger, and grip block 85 is smaller to the concentration pressure of cell board application point during clamping, avoids cell board from being subject to crushing
Also avoid not clamping causing cell board to come off.
The kind of drive of Manipulator Hand actuator 8 uses screw mandrel double nut, and two nuts are reversely mounted on same screw mandrel,
Enable that two nuts are opposite, move toward one another during screw mandrel positive and negative rotation so that the grip block 85 on nut can clamp,
Unclamp.Wherein, hand screw mandrel selection helical pitch 8mm, diameter 8mm, length 150mm screw mandrel.
By screw rod Compliance equation
In formula：μ is spiro rod length coefficient.L is screw rod active length.
I is the radius of inertia of screw rod dangerouse cross-section.If dangerous interface is circle,
Calculate to obtain λ s=37.5.Work as λs＜ 40, it may not be necessary to carry out stability check.
Two grip blocks 85 are by increasing baffle plate 84 on nut.Grip block 85 is used for the long side for pressing from both sides medicine plate, in order to
Ensure the stability of gripping, gripping distance takes the half of long side, i.e. the length of grip block 85 is 60mm.According to medicine plate thickness journey
Degree, wide 1.5mm neck 86 is designed in the medium position of grip block 85, make its insertion clamping.In view of each being steeped in medicine plate
For cover away from for 5mm, the part of grip block 85 sets a high 3mm of top surface 3mm*5mm bottom surface 5mm*5mm boss 87 per 5mm.Such one
Come, just there is a boss 87 to block between each two bubble-cap.Clamping position will more accurately, stably.Due to simple nut
Drive grip block 85 to clamp, must also there is a uncertain free degree, therefore also need to one and realize the auxiliary slide bar being oriented to
81.In view of the present invention using screw nut driving, using polished rod linear bearing as auxiliary slide bar 81.Wherein polished rod
A diameter of 5mm, linear bearing are internal diameter 5mm external diameters 10mm LM5UU.Nut and linear bearing are to be fixed on integral installation
Seat so that screw mandrel and polished rod can be specific as shown in Figure 8 in same plane and keeping parallelism.
Further, the mechanical arm parts 6 of the present embodiment select the single-shaft mechanical arm slide unit of the linear modules of KKM60.
Slide unit effective travel 100mm just can meet the bearing requirements of the invention.In order to facilitate debugging, slide unit stroke selects bigger.Therefore
Select model KKM6004C-300A1 slide unit.Its horizontal load 56KG, normal load 10KG.
Further, the Manipulator Hand actuator 8 of the present embodiment is screw nut driving, need to be to its hand rotary electric machine
83 are checked and are verified：
(1) load torque
Its loading moment calculation formula is：
In formula：F is axial load.Ph is helical pitch, unit m.I is gearratio.μ0For coefficient of friction.Due to being rubbed in mechanism
Very little is wiped, is ignored.The weight of the part of single finger is 300g, by F=FA+ mg (sin α+μ cos α) obtains F=3.6N.This dress
Put and use lead screw motor, therefore i=1.
The present apparatus use in feed screw nut for slip screw, η1=0.6；The efficiency of a pair of screw mandrel installation bearing blocks is η2
=0.99；The efficiency of one linear bearing is η3=0.99.Then gross efficiency
η=η1η2η3
Therefore η=0.6 × 0.99 × 0.99=0.588
Then load torque
It is double nut in lead screw motor, therefore total load T=2TL=2 × 0.078=0.0156NM.Due to load compared with
It is small, so motor selects two-phase stepper motor, select 42 type stepper motors.
(2) detent torque
The inertia of load：
In formula：M is the quality of screw mandrel load.
Screw mandrel inertia：
Total load inertia：
J=JL+JB
J=9.7367+4.7326=14.4693gcm2
Detent torque：
Wherein nmFor low bar maximum (top) speed；JM is rotor rotary inertia, takes JM=102gcm2(42 serial stepper motors
Middle maximum rotation inertia).t1To start the time, 0.2s is taken.
(3) must torque
TM=(TL+TS)×S
TM=(0.0156+0.0021) × 2=0.0177NM
Wherein S is safety coefficient, takes 2.
According to calculating, driving motor model L42BYGH48-1684A screw mandrel stepper motor is determined.Its statical moment
0.5NM, location torque 20NM, much larger than demand, the rotary inertia 68gcm of stepper motor2＜ 102gcm2, motor conforms to
Ask.
Further, wrist rotary electric machine 71 and the type selecting of arm rotary electric machine 63 need to be checked and verified：
(1) type selecting of wrist rotary electric machine 71
Torque needed for Manipulator Hand actuator 8：
T=Fd
T=25 × 0.15=3.75NM
In formula：F is that the quality F=2.5kg, d of Manipulator Hand actuator 8 are the center of gravity of Manipulator Hand actuator 8 to electricity
The distance of arbor.
Staring torque：
Therefore the series of selection 86, model 86HS80408 stepper motor.Its statical moment is 4NM, can meet wrist
Movement needs.
(2) arm rotary electric machine 63 selects
Known F=60N；Helical pitch 4mm；Ball leading screw driving efficiency eta1=0.95, shaft coupling efficiency eta2=0.99, a pair of axles
Hold efficiency eta3=0.99.Detent torque T is obtained by formula above-mentioned formulaL=0.0411NM.
Because loading moment is smaller, therefore directly select 57 series, model 57HS4506A4 stepper motor.Its statical moment
Needs are met for 0.8NM.
Further, the energy quick response defect recognition result of substandard products mechanism for sorting 2 of the present embodiment, rack-and-pinion, screw thread
Transmission is all improper.The stroke of substandard products mechanism for sorting 2 is 400mm in the present invention, and characteristics of motion requirement is simple.Therefore time of this example
Product mechanism for sorting 2 uses crank double-slider mechanism, as shown in Figure 4.
By torque formula, obtain substandard products mechanism for sorting 2 and move required torque T=0.198NM.
Each linear bearing efficiency eta1=0.99, the efficiency of a pair of ball bearings is η2=0.99.Obtain gross efficiency η=0.96.Then
TL=0.2063NM.
Because starting load is smaller, therefore directly select 57 series, model 57HS4506A4 stepper motor.Its statical moment
Needs are met for 0.8NM.
Further, first conveyer belt 1 of the present embodiment selects wide 400mm run-in index conveyer belt.The high 1000mm of fuselage,
The material of belt is PVC, belt speed 0.15m/s.
Further, the hand leading screw 82 of the present embodiment Manipulator Hand actuator 8 and auxiliary slide bar 81 pass through silk respectively
Bar support base FK08-C7 and bearing block GFSBB-605 are fixed by bolts on hand actuator bracket 88, hand actuator bracket
88 are fixedly connected with wrist brace 72.The effect for increasing baffle plate 84 is to increase the gripping range of grip block 85.Substandard products sort in Fig. 3
The guide rail of mechanism 2 selects diameter 5mm polished rod, and both ends are fixed with GFSBB-605 bearing blocks；Sliding block selects LM5UU linear bearings；
Sort and connected between connecting rod 26 and sliding block with internal diameter 5mm external diameters 10mm flange bearing.
The whole mechanical framework of the present embodiment is built by 40mm*40mm and 20mm*20mm section bar.Manipulator performs machine
Structure part is the most key.In order to ensure IMAQ quality, the position of camera depends on the position of manipulator mechanism 5.Manipulator
Mechanism 5 is arranged on the top of the first conveyer belt 1, and one side manipulator mechanism 5 will grip product from the first conveyer belt 1, so peace
Can not be too remote from the first conveyer belt 1 in order to avoid waste stroke during dress；On the other hand to ensure that product can be logical from the lower section of manipulator mechanism 5
Cross, so can not be too near.Consider medicine plate size 120mm*75mm*1.2mm (long * wide * are high), design manipulator mechanism 5 from
The setting height(from bottom) of first conveyer belt 1 is 50mm.It is a process after detection that substandard product, which is sorted out, substandard products
Mechanism for sorting 2 will followed by be arranged on the rear of manipulator mechanism 5.And sort process is related to the work tempo of the first conveyer belt 1
Connection.Substandard product could be pushed in the time substandard products mechanism for sorting 2 that the first conveyer belt 1 intermittently stops.Therefore, in the present invention
Substandard products mechanism for sorting 2 and the mounting distance of manipulator executing agency are set as one work tempo of product on the first conveyer belt 1
The stroke inside passed by.
The planar dimension for the medicine plate being detected in the present embodiment is 120mm*75mm (long * is wide), then the short side of camera fields of view
I.e. the visual field in V directions is more than medicine plate long side and can meet to require.Therefore determine that the V directions visual field is 120mm.The vision system designed herein
System need to detect the front of medicine plate, and defect on back side identification difficulty is relatively low, predominantly detects capsule situation and position, medicine plate front is
Capsule situation in bubble-cap is detected, defect type is more, so, precision wants height a bit, therefore precision takes θ=0.18 (mm/
pixel).By accuracy formula：
In formula：The visual field (mm) in X --- V directions；The pixel (pixel) in Y --- V directions.
Therefore the camera that Y=X/ θ=350/0.18=1944.44 (pixel) are then detected selects 5,000,000 pixel model FZ-
SC5M2 digital CCD camera, its valid pixel number are 2448 (H) * 2044 (V).
The major optical characteristic of camera lens has aperture, focal length, the angle of visual field three in the present embodiment.Select suitable parameter area
Afterwards, suitable camera lens is selected further according to mounting distance and visual field magnitude relationship.For frame layout, the mounting distance of camera is determined
For 500mm, and the known camera V visuals field are 120mm.Selection camera model 3Z4S-LE SV-0814H's looks far into the distance camera lens.
The image processor 9 of FH series can be divided into high-speed type and the class of standard type two according to processing speed in the present embodiment.
Three models are segmented into according to attachable camera quantity again per class.The quality inspection system detection content of the present invention is uncomplicated, only
Use two cameras.Therefore, image processor 9 selects model FH-1050 standard controller 11.
Each action of mechanical structure will be accurate in quality check process in the present embodiment, therefore is needed in mechanical structure
Some position-detection sensors, such as travel switch and photoelectric sensor are added, to ensure that etching system is made specified when specified
Action.As shown in Figure 8, Figure 9,7 position-detection sensors to be installed.Wherein, SQ1, SQ2, SQ3, SQ4, SQ5, SQ6 are selected
Micro limit switch.SQ7 selects photoelectric sensor.SQ1, one installed in Manipulator Hand actuator 8 increases on baffle plate 84.
SQ2, on another growth baffle plate 84 of Manipulator Hand actuator 8.SQ3, on mechanical arm parts 6.
SQ4, on the top of mechanical arm parts 6.SQ5, on mechanical arm parts 6, SQ3 on SQ5 with dividing into
Put.SQ6, on mechanical wrist parts 7.SQ7, installed in the centre position of substandard products mechanism for sorting 2.It is medicine that A is marked in Fig. 9
The cell board of plate.
Counted according to input and output point, according to 20% redundancy.Then numeral input point 10, numeral output point 16.Because
Input and output point is few, so controller 11 selects the integral type PLC of the high functional form of Omron CP1H series：CP1H-Y40DR-
D.It is as shown in Figure 5 that controller 11 connects circuit relationships.
Need to use 8 digital quantity inputs, 14 digital quantity output ports altogether in the present embodiment.As shown in Figure 10, Figure 11,
1. conveyer belt is the first conveyer belt 1,2. conveyer belt is the second conveyer belt 10,1. camera is direct picture collector 4,2. camera is
Back side image collector 3, it is specific as follows：
1) normal open switch I0.0.When switch closes, I0.0 contactings, system starts.PLC numeral outputs Q0.0, Q0.1
Connect, output high level controls the motor of the first conveyer belt 1 and the second conveyer belt 10 to rotate.
2) limit switch SQ1.When medicine plate is sent at manipulator mechanism 5, SQ1 is touched, I0.1 is connected.PLC numerals are defeated
Go out Q0.0 disconnections, the first conveyer belt 1 stops.Meanwhile PLC controls visual processes allow direct picture collector 4 to shoot a medicine plate
Back side photo.PLC numeral outputs Q0.2, Q0.3, Q0.4 control screw mandrel stepper motor rotates forward so that Manipulator Hand actuator 8
Clamp.
3) limit switch SQ2.Manipulator Hand actuator 8, which is clamped to, connects SQ2, and I0.2 is connected.PLC numeral outputs
Q0.2, Q0.3, Q0.4 control screw mandrel stepper motor stop clamping.Meanwhile PLC numeral output Q0.5, Q0.6, Q0.7, Q1.0,
Q1.1, Q1.2 control wrist stepper motor and arm stepper motor to rotate forward simultaneously so that Manipulator Hand actuator 8 is flipped up
With move up.
4) limit switch SQ3.Manipulator Hand actuator 8, which moves up, connects SQ3, and I0.3 is connected.PLC numeral output Q1.0,
Q1.1, Q1.2 control arm stepper motor stop.
5) limit switch SQ4.Turned on Manipulator Hand actuator 8 and connect SQ4, I0.4 is connected.PLC numeral output Q0.5,
Q0.6, Q0.7 control wrist stepper motor stop.Meanwhile PLC control vision processors shoot one by back side image collector 3
Medicine plate full face.Moment is shot, PLC numeral outputs Q0.5, Q0.6, Q0.7, Q1.0, Q1.1, Q1.2 control wrist simultaneously
Stepper motor and the reversion of arm stepper motor so that Manipulator Hand actuator 8 is downwardly turned over and moved down.
6) limit switch SQ5.Manipulator Hand actuator 8, which moves down, connects SQ5, and I0.5 is connected.PLC numeral output Q1.0,
Q1.1, Q1.2 control arm stepper motor stop.
7) limit switch SQ6.Turned on Manipulator Hand actuator 8 and connect SQ6, I0.6 is connected.PLC numeral output Q0.5,
Q0.6, Q0.7 control wrist stepper motor stop.Meanwhile PLC numeral outputs Q0.2, Q0.3, Q0.4 control screw mandrel stepper motor
Reversion so that Manipulator Hand actuator 8 unclamps, and stops after the circle of reversion 4.
8) photoelectric sensor SQ7.Meet that vision processor is determined as in substandard product and substandard products mechanism for sorting 2 when simultaneously
Between SQ7 sensed two conditions of product.PLC numeral outputs Q1.3, Q1.4, Q1.5 control sorting stepper motor just turns around.
The summary for then implementing quality detecting method process with the quality inspection device is described as：
1) device is initialized, parameter setting；When capsule medicine plate is transferred to setting transmission zone by the first conveyer belt 1
During domain, travel switch will be triggered, PLC processor will send signals to manipulator execution after receiving the trigger signal of travel switch
Mechanism, more capsule medicine plates are positioned, camera carries out automatic camera, obtains capsule medicine plate positive and negative picture, mechanical after collection
Mobile phone structure 5 will decontrol medicine plate, continue to move forward along belt.
2) medicine plate template is obtained before quality inspection, obtains capsule bubble-cap particular location, the region outside bubble-cap is not dealt with.Pass through figure
As processor 9 is converted into digital picture, rim detection and capsule region point set attribute filtering rear difference class are carried out to it, if depositing
In abundant point set and marginal information, then capsule is determined as more.
3) furthermore automatic threshold segmentation, is carried out to bubble-cap inside capsule digital picture, if digital picture is non-division in bubble-cap
As a result, then it is judged to lack grain.
4) before gathering image, capsule global shape is first obtained, calculates width, length and circularity, the double-colored length of capsule of normal capsules
The parameters such as degree；Secondly according to the conventional size of capsule bubble-cap, camber line peak dot is formulated away from bubble-cap high order end, low order end edge camber line
Distance, if calculating above parameter value from digital image information not in setting range, it is judged as capsule abnormity.
5) grey level enhancement is carried out to bubble-cap interior zone, if the region that gray scale extracts threshold value less than stain or foreign matter be present,
And the regional diameter is more than minimum foreign matter diameter, then is determined as foreign matter defect in bubble-cap.
6) capsule backboard planar defect is mainly cracking defect, identical with stain in capsule or method for recognizing impurities.
7) after image processor 9 is handled image, if five class defects occur more than obtaining, control will be transmitted a signal to
Device 11, after the processing information of controller 11, execution information will be sent and receiving control to substandard products mechanism for sorting 2, substandard products mechanism for sorting 2
Unqualified capsule medicine plate on the first conveyer belt 1 is pushed on the second conveyer belt 10 after the signal that device 11 is sent.
Claims (10)
- A kind of 1. two-segment type capsule medicine plate quality inspection device based on machine vision, it is characterised in that including：First conveyer belt（1）；The medicine plate testing agency set gradually along direction of transfer and substandard products mechanism for sorting（2）；The medicine plate testing agency includes using In the back side image collector of collection medicine plate back side image（3）, direct picture collector for gathering medicine plate direct picture （4）, for capturing medicine plate and by the back side up manipulator mechanism turned over of medicine plate（5）With the image processor for identifying substandard products （9）, the direct picture collector（4）And manipulator mechanism（5）It is erected at the first conveyer belt up and down（1）Top, front elevation As collector（4）Camera lens down, the back side image collector（3）It is erected at the first conveyer belt（1）Top and transmitting It is located at manipulator mechanism on direction（5）Before, back side image collector（3）Camera lens towards manipulator mechanism（5）, described image Processor（9）Back side image collector is connected respectively（3）With direct picture collector（4）；Second conveyer belt（10）, the second conveyer belt（10）Positioned at substandard products mechanism for sorting（2）Side and with the first conveyer belt（1）Phase Vertically, substandard products mechanism for sorting（2）By the first conveyer belt（1）On the substandard products that identify move to the second conveyer belt（10）On；Controller（11）, the first conveyer belt is connected respectively（1）, image processor（9）, substandard products mechanism for sorting（2）With the second transmission Band（10）.
- A kind of 2. two-segment type capsule medicine plate quality inspection device based on machine vision according to claim 1, it is characterised in that The manipulator mechanism（5）Including mechanical arm parts（6）, mechanical wrist parts（7）With Manipulator Hand actuator （8）, the mechanical arm parts（6）It is vertically arranged in the first conveyer belt（1）Top, the mechanical wrist parts（7） Located at mechanical arm parts（6）On, mechanical arm parts（6）Driving manipulator wrist component（7）Move up and down, the machine Tool hand hand actuator（8）Located at mechanical wrist parts（7）On, mechanical wrist parts（7）Driving manipulator hand performs Device（8）90 degree are rotated up on perpendicular, the controller（11）Mechanical arm parts are connected respectively（6）, manipulator Wrist component（7）With Manipulator Hand actuator（8）.
- A kind of 3. two-segment type capsule medicine plate quality inspection device based on machine vision according to claim 2, it is characterised in that The mechanical arm parts（6）Including arm sliding block（61）, arm leading screw（62）With arm rotary electric machine（63）, the arm Leading screw（62）It is vertically arranged in the first conveyer belt（1）Top, the arm rotary electric machine（63）Arm portions leading screw（62）'s End, the arm sliding block（61）By nut in arm leading screw（62）Connection, the mechanical wrist parts（7）Located at arm Sliding block（61）On, the controller（11）Arm portions rotary electric machine（63）.
- A kind of 4. two-segment type capsule medicine plate quality inspection device based on machine vision according to claim 2, it is characterised in that The mechanical wrist parts（7）Including wrist rotary electric machine（71）And wrist brace（72）, the wrist rotary electric machine（71） Located at mechanical arm parts（6）On, wrist rotary electric machine（71）Output shaft it is horizontally disposed and with the first conveyer belt（1）Biography Send direction perpendicular, the wrist brace（72）Bottom and wrist rotary electric machine（71）Output axis connection, the manipulator Hand actuator（8）It is arranged on wrist brace（72）Top, the controller（11）Connect wrist rotary electric machine（71）.
- A kind of 5. two-segment type capsule medicine plate quality inspection device based on machine vision according to claim 2, it is characterised in that The Manipulator Hand actuator（8）Including aiding in slide bar（81）, hand leading screw（82）, hand rotary electric machine（83）, two increase Long baffle plate（84）With two grip blocks（85）, the auxiliary slide bar（81）With hand leading screw（82）It is set in parallel in mechanical wrist part Component（7）On, and with the first conveyer belt（1）Direction of transfer it is perpendicular, the hand rotary electric machine（83）Connect hand leading screw （82）End, each increase baffle plate（84）One end with aid in slide bar（81）It is slidably connected, and passes through nut and hand silk Thick stick（82）Connection, two growth baffle plates（84）The nut installation direction of corresponding connection is on the contrary, each increase baffle plate（84）It is another End connects a grip block respectively（85）, two grip blocks（85）With the first conveyer belt（1）Direction of transfer it is parallel, two folder Hold plate（85）Along the first conveyer belt on opposite side（1）Direction of transfer be provided with a neck（86）With multiple boss （87）, the multiple boss（87）It is disposed on neck（86）Top, the controller（11）Connect hand rotary electric machine （83）.
- A kind of 6. two-segment type capsule medicine plate quality inspection device based on machine vision according to claim 2, it is characterised in that The device also includes connecting controller respectively（11）Be used for inspecting manipuator hand actuator（8）Capture first of medicine plate in place Position-detection sensor, for inspecting manipuator arm component（6）Move up and down second place detection sensor in place, be used for Inspecting manipuator wrist component（7）Overturn the 3rd position-detection sensor in place and be sent to substandard products sorting for detecting tablet Mechanism（2）4th position-detection sensor of lower section.
- A kind of 7. two-segment type capsule medicine plate quality inspection device based on machine vision according to claim 1, it is characterised in that The substandard products mechanism for sorting（2）Including sorting cross slide way（21）, sorting transverse slider（22）, sorting longitudinal rail（23）, point Pick longitudinal sliding block（24）, sorting rotary electric machine（25）, sorting connecting rod（26）And push pedal（27）, the sorting cross slide way（21）For Two, two sorting cross slide ways（21）It is erected at the first conveyer belt（1）On, and respectively with the second conveyer belt（10）Both sides Side is alignd, and each sorts cross slide way（21）With a sorting transverse slider（22）It is slidably connected, the sorting longitudinal rail（23） And push pedal（27）It is erected at two sorting transverse sliders up and down respectively（22）On, sort longitudinal rail（23）Bottom surface on set and push away Plate（27）, the sorting longitudinal sliding block（24）With sorting longitudinal rail（23）It is slidably connected, the sorting rotary electric machine（25）Frame It is located at two sorting cross slide ways（21）Between, sort rotary electric machine（25）Output shaft be vertically arranged and connect sorting connecting rod （26）One end, the sorting connecting rod（26）The other end with sorting longitudinal sliding block（24）Rotation connection, the controller（11） Connection sorting rotary electric machine（25）.
- A kind of 8. two-segment type capsule medicine plate quality inspection device based on machine vision according to claim 1, it is characterised in that The medicine plate testing agency also includes being used for the light supply apparatus for irradiating medicine plate, and the light supply apparatus connects controller（11）.
- A kind of 9. two-segment type capsule medicine plate quality inspection device based on machine vision according to claim 1, it is characterised in that The controller（11）It is connected with LCDs（12）.
- 10. a kind of two-segment type capsule medicine plate quality detecting method based on machine vision, it is characterised in that using such as claim 1 institute State the two-segment type capsule medicine plate quality inspection device based on machine vision to realize, comprise the following steps：1）When medicine plate passes through the first conveyer belt（1）It is sent to manipulator mechanism（5）Lower section, manipulator mechanism（5）Translation clamping is grabbed Get it filled plate, direct picture collector（4）Gather the direct picture of medicine plate, manipulator mechanism（5）Back side up by medicine plate turns over, the back of the body Face image acquisition device（3）Gather the back side image of medicine plate；2）Image processor（9）Identify that medicine plate whether there is defect respectively according to the direct picture of medicine plate, the defect includes lacking Foreign matter defect and back side cracking defect be present in grain defect, more defects, capsule abnormity defect, capsule；3）When medicine plate is through the first conveyer belt（1）It is sent to substandard products mechanism for sorting（2）Lower section, controller（11）According to image processor （9）The output control substandard products mechanism for sorting of identification（2）It will identify that the substandard products of existing defects move to the second conveyer belt（10） On.
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